version: 66.06
glider: 140
mission: 8
dive: 241
start: 12 12 109 3 5 8
data:
$ID,140
$MISSION,8
$DIVE,241
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,480
$T_MISSION,540
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,51390
$NAV_MODE,2
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5900
$TGT_DEFAULT_LON,-2030
$TGT_AUTO_DEFAULT,0
$SM_CC,275
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-48739.762
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,214
$PITCH_MAX,3926
$C_PITCH,2765
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,174
$ROLL_MAX,4054
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,85
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.025
$VBD_MIN,550
$VBD_MAX,3938
$C_VBD,3006
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-16.173029
$PRESSURE_SLOPE,0.0001158875
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,8
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044206623
$SEABIRD_T_H,0.00065338978
$SEABIRD_T_I,2.7511465e-05
$SEABIRD_T_J,3.0433071e-06
$SEABIRD_C_G,-10.080298
$SEABIRD_C_H,1.1283234
$SEABIRD_C_I,-0.0013448599
$SEABIRD_C_J,0.00017661104
$GPS1,025437,6427.964,56.628,41,1.0,42,-4.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.98
$_SM_ANGLEo,-64.5
$GPS2,030444,6427.964,56.731,16,1.5,16,-4.6
$SPEED_LIMITS,0.119,0.206
$TGT_NAME,OFFSHORE
$TGT_LATLONG,6506.000,-100.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,312.3,115097,-13.7,-6.875
$D_GRID,2558
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.80,-116.7,0.0,0.0,0,23,0.00,0.00,-7.15,0.000,2,0.000,0.000,217,2275,2036,0,0,0,0,0,0
$GC,26,-0.80,-116.7,4.0,-0.0,1,122,9.20,2.12,-76.03,0.000,4,0.239,0.051,2499,930,3483,0,0,0,0,0,0
$GC,372,-0.68,-116.7,19.2,-9.3,62,380,0.12,2.10,0.00,0.000,6,0.174,0.029,2538,2312,3484,0,0,0,0,0,0
$GC,712,-0.68,-116.7,44.1,-7.8,123,717,0.00,2.10,0.00,0.000,4,0.000,0.035,2538,920,3484,0,0,0,0,0,0
$GC,806,-0.65,-116.7,51.9,-8.3,140,812,0.00,2.08,0.00,0.000,6,0.000,0.028,2538,2298,3484,0,0,0,0,0,0
$GC,1148,-0.65,-116.7,78.0,-8.2,201,1153,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2298,3485,0,0,0,0,0,0
$GC,1488,-0.65,-116.7,104.2,-7.6,262,1493,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2298,3485,0,0,0,0,0,0
$GC,1819,-0.65,-116.7,130.2,-7.9,305,1820,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2298,3486,0,0,0,0,0,0
$GC,2127,-0.65,-116.7,155.7,-8.4,320,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2298,3486,0,0,0,0,0,0
$GC,2438,-0.65,-116.7,180.9,-7.9,335,2441,0.00,2.05,0.00,0.000,4,0.000,0.035,2538,931,3486,0,0,0,0,0,0
$GC,2493,-0.65,-116.7,185.7,-8.6,337,2497,0.00,2.05,0.00,0.000,6,0.000,0.028,2538,2300,3485,0,0,0,0,0,0
$GC,2814,-0.65,-116.7,210.5,-7.7,353,2818,0.00,2.10,0.00,0.000,4,0.000,0.040,2538,3704,3486,0,0,0,0,0,0
$GC,2876,-0.65,-116.7,215.3,-7.5,356,2879,0.00,2.00,0.00,0.000,6,0.000,0.023,2538,2304,3486,0,0,0,0,0,0
$GC,3207,-0.65,-116.7,240.5,-7.9,372,3211,0.00,2.03,0.00,0.000,4,0.000,0.035,2538,921,3486,0,0,0,0,0,0
$GC,3297,-0.65,-116.7,247.8,-8.3,376,3301,0.00,2.03,0.00,0.000,6,0.000,0.028,2538,2302,3486,0,0,0,0,0,0
$GC,3622,-0.65,-116.7,272.3,-7.3,392,3623,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2302,3486,0,0,0,0,0,0
$GC,3933,-0.65,-116.7,295.0,-7.2,407,3934,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2302,3486,0,0,0,0,0,0
$GC,4260,-0.65,-116.7,317.3,-6.7,419,4264,0.00,2.10,0.00,0.000,4,0.000,0.041,2538,3698,3485,0,0,0,0,0,0
$GC,4348,-0.65,-116.7,323.4,-6.8,421,4354,0.00,2.03,0.00,0.000,6,0.000,0.024,2538,2299,3485,0,0,0,0,0,0
$GC,4661,-0.65,-116.7,345.1,-7.0,432,4662,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2297,3485,0,0,0,0,0,0
$GC,4967,-0.65,-116.7,366.5,-7.0,442,4968,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2298,3484,0,0,0,0,0,0
$GC,5273,-0.65,-116.7,387.9,-7.3,452,5277,0.00,2.15,0.00,0.000,4,0.000,0.041,2538,3700,3483,0,0,0,0,0,0
$GC,5367,-0.65,-116.7,395.2,-7.8,454,5374,0.00,2.05,0.00,0.000,6,0.000,0.025,2538,2300,3483,0,0,0,0,0,0
$GC,5679,-0.65,-116.7,418.2,-7.4,465,5680,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2299,3482,0,0,0,0,0,0
$GC,5986,-0.65,-116.7,440.7,-7.3,475,5987,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2299,3482,0,0,0,0,0,0
$GC,6292,-0.65,-116.7,462.0,-6.8,485,6296,0.00,2.15,0.00,0.000,4,0.000,0.042,2538,3698,3481,0,0,0,0,0,0
$GC,6360,-0.65,-116.7,466.8,-7.2,487,6364,0.00,2.03,0.00,0.000,6,0.000,0.025,2538,2296,3480,0,0,0,0,0,0
$GC,6694,-0.65,-116.7,488.9,-6.6,498,6695,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2294,3480,0,0,0,0,0,0
$GC,6999,-0.65,-116.7,509.0,-6.7,506,7003,0.00,2.12,0.00,0.000,4,0.000,0.042,2538,3695,3479,0,0,0,0,0,0
$GC,7067,-0.65,-116.7,513.7,-7.1,507,7071,0.00,2.03,0.00,0.000,6,0.000,0.025,2538,2290,3479,0,0,0,0,0,0
$GC,7426,-0.65,-116.7,538.3,-6.9,513,7427,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2289,3478,0,0,0,0,0,0
$GC,7729,-0.65,-116.7,559.8,-7.1,518,7733,0.00,2.15,0.00,0.000,4,0.000,0.042,2538,3695,3477,0,0,0,0,0,0
$GC,7818,-0.68,-116.7,566.4,-7.4,519,7822,0.00,2.05,0.00,0.000,6,0.000,0.026,2538,2306,3476,0,0,0,0,0,0
$GC,8161,-0.68,-116.7,589.9,-6.9,525,8162,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2305,3476,0,0,0,0,0,0
$GC,8465,-0.68,-116.7,609.4,-6.4,530,8468,0.00,2.12,0.00,0.000,4,0.000,0.043,2538,3698,3475,0,0,0,0,0,0
$GC,8520,-0.71,-116.7,613.1,-6.3,530,8527,0.00,2.03,0.00,0.000,6,0.000,0.026,2537,2297,3475,0,0,0,0,0,0
$GC,8829,-0.71,-116.7,632.1,-6.1,536,8830,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2297,3474,0,0,0,0,0,0
$GC,9132,-0.71,-116.7,651.0,-6.3,541,9136,0.00,2.15,0.00,0.000,4,0.000,0.043,2538,3701,3474,0,0,0,0,0,0
$GC,9177,-0.75,-116.7,653.8,-6.1,541,9181,0.00,2.03,0.00,0.000,6,0.000,0.026,2538,2302,3473,0,0,0,0,0,0
$GC,9497,-0.75,-116.7,673.5,-6.2,547,9501,0.00,2.15,0.00,0.000,4,0.000,0.043,2538,3702,3473,0,0,0,0,0,0
$GC,9548,-0.78,-116.7,676.7,-6.0,547,9552,0.00,2.05,0.00,0.000,6,0.000,0.026,2538,2292,3472,0,0,0,0,0,0
$GC,9857,-0.78,-116.7,695.5,-6.1,552,9858,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2290,3472,0,0,0,0,0,0
$GC,10160,-0.78,-116.7,714.5,-6.3,557,10164,0.00,2.15,0.00,0.000,4,0.000,0.043,2538,3698,3472,0,0,0,0,0,0
$GC,10238,-0.82,-116.7,719.9,-7.2,558,10242,0.12,2.03,0.00,0.000,6,0.140,0.026,2501,2294,3472,0,0,0,0,0,0
$GC,10586,-0.77,-116.7,748.1,-8.2,564,10590,0.00,2.05,0.00,0.000,4,0.000,0.039,2501,921,3471,0,0,0,0,0,0
$GC,10630,-0.70,-116.7,752.2,-9.0,564,10635,0.15,2.05,0.00,0.000,6,0.201,0.031,2538,2299,3471,0,0,0,0,0,0
$GC,10949,-0.70,-116.7,774.6,-6.9,570,10953,0.00,2.10,0.00,0.000,4,0.000,0.043,2539,3701,3470,0,0,0,0,0,0
$GC,11012,-0.74,-116.7,778.9,-7.0,571,11016,0.00,2.03,0.00,0.000,6,0.000,0.026,2539,2306,3470,0,0,0,0,0,0
$GC,11383,-0.77,-116.7,804.6,-6.9,577,11384,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2299,3470,0,0,0,0,0,0
$GC,11686,-0.80,-116.7,825.9,-7.0,582,11690,0.00,2.15,0.00,0.000,4,0.000,0.044,2539,3704,3469,0,0,0,0,0,0
$GC,11764,-0.85,-116.7,831.6,-7.4,583,11769,0.15,2.05,0.00,0.000,6,0.132,0.026,2490,2288,3469,0,0,0,0,0,0
$GC,12112,-0.78,-116.7,861.8,-8.8,589,12115,0.00,2.05,0.00,0.000,4,0.000,0.040,2490,919,3469,0,0,0,0,0,0
$GC,12167,-0.69,-116.7,867.1,-9.2,589,12172,0.17,2.10,0.00,0.000,6,0.187,0.031,2535,2327,3469,0,0,0,0,0,0
$GC,12483,-0.69,-116.7,889.1,-6.9,595,12487,0.00,2.08,0.00,0.000,4,0.000,0.044,2535,3705,3468,0,0,0,0,0,0
$GC,12544,-0.73,-116.7,893.5,-6.5,595,12550,0.00,2.05,0.00,0.000,6,0.000,0.027,2536,2295,3468,0,0,0,0,0,0
$GC,12853,-0.73,-116.7,914.3,-6.7,601,12854,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2293,3468,0,0,0,0,0,0
$GC,13157,-0.73,-116.7,934.3,-6.6,606,13161,0.00,2.17,0.00,0.000,4,0.000,0.044,2536,3702,3468,0,0,0,0,0,0
$GC,13251,-0.78,-116.7,940.6,-6.9,607,13255,0.00,2.08,0.00,0.000,6,0.000,0.026,2536,2298,3468,0,0,0,0,0,0
$GC,13595,-0.81,-116.7,961.6,-6.1,613,13599,0.00,2.15,0.00,0.000,4,0.000,0.044,2536,3699,3468,0,0,0,0,0,0
$GC,13651,-0.86,-116.7,965.2,-6.2,613,13657,0.15,2.05,0.00,0.000,6,0.135,0.027,2488,2286,3468,0,0,0,0,0,0
$GC,13960,-0.79,-116.7,989.1,-7.8,619,13961,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2286,3467,0,0,0,0,0,0
$STATE,14018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14018,begin apogee
$GC,14023,-0.24,0.0,993.8,7.8,620,14127,0.68,0.00,100.45,1.553,6,0.172,0.000,2683,2647,3006,0,0,0,0,0,0
$STATE,14127,end apogee,CONTROL_FINISHED_OK
$STATE,14127,begin climb
$GC,14130,0.80,116.7,995.5,0.0,621,14246,1.05,2.42,107.90,1.453,4,0.111,0.046,3010,4043,2529,0,0,0,0,0,0
$GC,14297,0.57,116.7,989.3,9.1,623,14302,0.28,2.20,0.00,0.000,6,0.173,0.026,2951,2656,2524,0,0,0,0,0,0
$GC,14617,0.54,119.9,967.4,6.7,629,14621,0.00,2.20,0.00,0.000,4,0.000,0.045,2950,4040,2520,0,0,0,0,0,0
$GC,14633,0.49,121.5,966.2,6.8,629,14643,0.05,2.15,4.20,0.999,6,0.156,0.028,2930,2647,2510,0,0,0,0,0,0
$GC,14981,0.51,135.2,944.4,6.3,635,14997,0.00,0.00,13.90,1.419,6,0.000,0.000,2930,2647,2454,0,0,0,0,0,0
$GC,15283,0.52,143.7,924.6,6.5,640,15294,0.00,0.00,9.05,1.361,6,0.000,0.000,2930,2647,2420,0,0,0,0,0,0
$GC,15587,0.56,152.6,904.7,6.5,645,15598,0.00,0.00,9.60,1.370,6,0.000,0.000,2930,2647,2383,0,0,0,0,0,0
$GC,15890,0.60,158.6,884.8,6.6,650,15899,0.00,0.00,6.88,1.286,6,0.000,0.000,2930,2647,2359,0,0,0,0,0,0
$GC,16193,0.65,167.1,865.0,6.5,655,16208,0.15,2.12,9.48,1.358,4,0.117,0.039,2991,1262,2324,0,0,0,0,0,0
$GC,16219,0.61,167.1,862.8,8.0,655,16224,0.12,2.12,0.00,0.000,6,0.180,0.034,2962,2647,2323,0,0,0,0,0,0
$GC,16555,0.61,167.1,837.2,7.6,661,16557,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2647,2320,0,0,0,0,0,0
$GC,16858,0.61,167.1,813.9,7.7,666,16860,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2647,2320,0,0,0,0,0,0
$GC,17162,0.61,167.1,790.8,7.6,671,17163,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2647,2320,0,0,0,0,0,0
$GC,17465,0.61,167.1,767.8,7.6,676,17466,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2647,2320,0,0,0,0,0,0
$GC,17768,0.61,167.1,744.7,7.6,681,17772,0.00,2.12,0.00,0.000,4,0.000,0.046,2962,4046,2319,0,0,0,0,0,0
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$STATE,27514,end climb,SURFACE_DEPTH_REACHED
$STATE,27514,begin surface coast
$FINISH,3.1,1.013794
$STATE,27578,end surface coast,CONTROL_FINISHED_OK
$STATE,27578,begin surface
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$HUMID,1078369668
$INTERNAL_PRESSURE,8.26204
$TCM_TEMP,14.80
$XPDR_PINGS,0
$24V_AH,22.3,39.932
$10V_AH,9.9,26.463
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.675,156.500,310.025,44.800,0.000,53.519,65.553,293.012,0.000,0.000,16.134,2420.755,21901.918,522.024,2672.650,724.767,0.000,1813.060,0.000,2655.868,0.000,0.534,0.000
$DEVICE_MAMPS,239.304,50.622,1553.175,790.777,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241352
$DATA_FILE_SIZE,66486,1199
$CAP_FILE_SIZE,206168,0
$CFSIZE,260165632,234950656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.044, 55.5,1
$GPS,121209,104706,6430.259,51.985,40,1.0,40,-4.6